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Author SHA1 Message Date
Matthias Grob 624d8a58e9 FlightTaskOrbit: correct acceleration feed-forward 
The acceleration setpoint gets implicitly inherited from the altitude
flight task since #14212. This feed-forward adds an unwanted
acceleration when the right stick is deflected. Instead I'm using it
to command the expected centripetal acceleration when flying
in a circle for better orbit tracking.
 2020-07-14 09:02:38 +02:00
David Jablonski 589aff7e0d Orbit: Add RC controlled yaw mode 
For the RC controlled yaw behaviour, we do a yaw setpoint according to
the stick expo. The uncontrolled yaw behaviour behaves undefined.
Switching between yaw behaviours makes the drone stand still for a
moment, which probably can be improved.
 2020-07-13 20:26:13 +02:00
David Jablonski 21f2e9b654 Orbit: Adjust yaw setpoint on circle approach 2020-07-13 20:26:13 +02:00
David Jablonski 037c6f592f Orbit: add more yaw behaviours 2020-07-13 20:26:13 +02:00
Matthias Grob 40883a06cf Commader: save 53 unnecessary characters of output string 2020-07-13 10:34:17 -04:00
daniele f01195c13f make kill switch engaged a warning only if the vehicle is flying 2020-07-13 10:34:17 -04:00
daniele be043d24a0 commander: rephrase or change message importance for some errors/warnings that happen often 2020-07-13 10:34:17 -04:00
Oleg 0c376ed518 fix sed unknown option to s' 
when building with windows toolchain from eclipse
 2020-07-13 10:23:44 -04:00
Daniel Agar aec1b9243a systemcmds/tests: microbench hrt run both regular and atomic hrt_elapsed_time 2020-07-10 10:59:50 -04:00
Daniel Agar 6bdcca6a85 systemcmds/tests: add simple atomic microbenchmark 2020-07-10 10:59:50 -04:00
George Anderson 94326a29bb FW attitude control scaling fixes and cleanup (#15256) 
* FW attitude control scaling fixes and cleanup

This commit aligns the scaling better with the derivations in
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html#airspeed-scaling

Integrator terms now scale with IAS^2 (all three axes)

To match the roll and pitch controllers:
- Yaw integrator scale is now applied during accumulation, not to
  integral value (so now FW_YR_IMAX is respected more intuitively)
- Yaw FF term now scale with IAS instead of IAS^2

Also made a number of small changes to make the three files
  (roll, pitch, yaw) 3-way diffable to be clearer about what the
  differences among them are.

* Remove unused yaw coordination method

- "Coordination method" open vs. closed code removed, since closed
  is never used and not actually implemented.
- No change to behavior

* Remove PX4_WARN messages

Co-authored-by: george <george@campsix.com>
 2020-07-10 15:54:39 +02:00
RomanBapst f792cc7b6b publish battery_dangerous message if battery level is dangerous 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-07-10 09:37:23 -04:00
Daniel Agar e2ad1bbc91 bmi055: accel periodically read temperature 2020-07-09 18:03:29 -04:00
JaeyoungLim fa0ca7e65c Update mavlink with cellular status message fixes 
This Commit includes a update of the mavlink submodule

since the CELLULAR_STATUS message was updated, the necessary changes were done together
Add enums
 2020-07-09 15:12:02 -04:00
Matthias Grob 480cd5ed4e mavsdk_tests: load all os environment variables for gazebo client 
such that OpenGL options are also used for mavsdk_tests when the GUI
is enabled.
 2020-07-09 16:43:34 +02:00
Silvan Fuhrer 57cbf212be PreFlightchecks: remove duplicated VTOL mode prearm check 
This removes the check for the current position of the VTOL swtich, as arming is already prevented if in transition mode,
plus also if VTOL and in fixed-wing mode (unless CBRK_VTOL_ARMING is set).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-07-09 10:41:43 -04:00
Roman Dvořák f70b3046e9 mavlink: publish RAW_RPM 2020-07-09 10:35:16 -04:00
Thomas Stauber 6d1ce57362 Add Land as Geofence Action 2020-07-09 10:32:10 -04:00
Daniel Agar f3d923f226 sensors: VehicleIMU improve scheduling 
- schedule on interval multiple of sensor_gyro publications without increasing the configured integration rate
 - IMU_INTEG_RATE add enums to guide appropriate selection
 - add average calculation bounds to prevent incorrect calculation and force monitoring again if there are consecutive gaps in data
 2020-07-09 10:29:04 -04:00
Daniel Agar fa8ba09f50 drivers/imu/bosch/bmi055: remove interrupt latch 
- the latch would actually cause more problems if the backup schedule hit
 - this reduces the number of cycles where the FIFO is actually empty at max rate (when there's only 1 sample in the FIFO expected)
 2020-07-09 10:15:33 -04:00
Daniel Agar 194029d010 drivers/imu: Invensense & Bosch remove transfer perf counters 
- we already have nearly equivalent data in every sensor publication with the (publication) timestamp and timestamp_sample
 2020-07-09 10:12:37 -04:00
Daniel Agar 6bc1af7680 sensors/vehicle_air_data: only publish primary if error free 
- cleanup failover related messaging
 - store previous failover count to prevent unecessary checks
 - check for parameter update initially to minimize work after fetching
fresh sensor data
 2020-07-09 10:11:23 -04:00
Daniel Agar 6d52772d30 sensors/vehicle_air_data: move to sensors namespace 
- move params to end of class
 2020-07-09 10:11:23 -04:00
Beat Küng 405cb5038d sdp3x: introduce State enum 
to avoid blocking the work queue during configuring.
 2020-07-08 11:43:21 -04:00
Beat Küng fc1be6e0b1 sdp3x: add '-k' option to keep retrying even if probing fails 
we have a setup where the sensor is connected via magnets, so the system
could boot without sensor initially attached.
 2020-07-08 11:43:21 -04:00
Beat Küng 3cc394e6c7 sdp3x: improve robustness, try to reconfigure on transfer error 2020-07-08 11:43:21 -04:00
Daniel Agar 38fa913fed Jenkins: holybro durandal-v1 switch to generic multicopter with dshot 2020-07-07 18:59:04 -04:00
Daniel Agar 8763d71bf0 Jenkins: set IMU_GYRO_RATEMAX to 4kHz on holybro_durandal-v1_default 2020-07-07 01:29:48 -04:00
Daniel Agar 2af72c05b5 Jenkins: set IMU_GYRO_RATEMAX to 2kHz on px4_fmu-v5_default 2020-07-06 22:17:17 -04:00
Daniel Agar 96a6b5c914 load_mon: decrease warning threshold for stack check builds 
- enabling stack check increases stack usage and will assert if there's
any overflow
v1.11.0-rc1 		2020-07-06 11:13:15 -04:00
Daniel Agar 0f0706be91 platforms/nuttx: init.cmake skip config lines with empty values 2020-07-06 11:13:15 -04:00
Daniel Agar b277840233 boards: create px4_fmu-v5_debug build with assertions enabled 2020-07-06 11:13:15 -04:00
Beat Küng 2bcc2f4ccc mag params: add missing mag rotations according to rotation.h 2020-07-06 10:16:17 -04:00
Beat Küng 795b9e938e drivers: add ST LPS33HW baro driver 
Note: only tested on I2C
 2020-07-06 10:13:11 -04:00
Julian Oes aea94ff57b jMAVSim: try new libs with newer Java versions 
This is an attempt to get jMAVSim to run with Java9+.
 2020-07-06 13:07:11 +01:00
Beat Küng 03e51076b0 v5x: fix icm20602 sensor orientation 
and reorder baro startup, so that the other one is used by default.
 2020-07-06 11:02:48 +02:00
Matthias Grob 03735f12a2 FlightTask: correct activate() doxygen comment 2020-07-04 12:29:10 +02:00
Thomas Stauber 3702c8b481 [VTOL] impose minimum transition duration 
* VT_F_TR_OL_TM would silently reduce VT_TRANS_MIN_TM when VT_F_TR_OL_TM was smaller
 2020-07-03 13:19:02 -04:00
Stone White 400c44b5ef Raname DJI Airframe name to Provent Large PWM_MIN for normal ESCs 2020-07-03 09:08:22 +02:00
Daniel Agar d3157f4266 sensors/vehicle_acceleration: apply calibration before filtering 2020-07-02 12:35:17 -04:00
JaeyoungLim 692cb717b7 Add windy world target (#14737) 2020-07-02 15:49:09 +02:00
Claudio Micheli 743898d574 Commander: failure detector, automatically disarm on a ESC failure 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli a7f2f2908b Commander: make optional tilt-check after takeoff (failure detector). 
- Introduced COM_LKDOWN_TKO parameter
    - Introduced auto disarm for lockdown state
    - Do not trigger flight termiantion if system is in lockdown

Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Claudio Micheli 6358dd400a failure detector: added esc failures detection 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2020-07-01 08:55:54 +02:00
Daniel Agar 7398d174d2 Update submodule sitl_gazebo to latest Tue Jun 30 14:39:57 UTC 2020 (#15248) 
- sitl_gazebo in PX4/Firmware (38588f0c37): https://github.com/PX4/sitl_gazebo/commit/309f7b0ace2d6d0afea59fe5edf3356b26d996c9
    - sitl_gazebo current upstream: https://github.com/PX4/sitl_gazebo/commit/1af7e29dbb1ecce7b0b191c9deb24ab1f13916ab
    - Changes: https://github.com/PX4/sitl_gazebo/compare/309f7b0ace2d6d0afea59fe5edf3356b26d996c9...1af7e29dbb1ecce7b0b191c9deb24ab1f13916ab

    1af7e29 2020-06-25 JaeyoungLim - Do not validate r1_rover
5e8ddfb 2020-06-25 Benjamin Perseghetti - fixes for R1 SDF https://github.com/PX4/sitl_gazebo/issues/533 (#534)
726c066 2020-06-23 Supakorn Suttiruang - Remove the incorrect force generated by moment (#532)

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-06-30 15:44:38 -04:00
Daniel Agar ff002f1fd7 Update submodule mavlink v2.0 to latest Tue Jun 30 14:40:02 UTC 2020 
- mavlink v2.0 in PX4/Firmware (2be1588438e198b465ff5d320720d1fba3406588): https://github.com/mavlink/c_library_v2/commit/413964fb05c7f296542d8f87b05ea71cd9795fc7
    - mavlink v2.0 current upstream: https://github.com/mavlink/c_library_v2/commit/bd80020a6ce7686922aac2b389767e23cf0605ac
    - Changes: https://github.com/mavlink/c_library_v2/compare/413964fb05c7f296542d8f87b05ea71cd9795fc7...bd80020a6ce7686922aac2b389767e23cf0605ac

    bd80020a 2020-06-29 PX4BuildBot - autogenerated headers for rev https://github.com/mavlink/mavlink/tree/527abe53c4c9bf6fe811d5f8b236d6ecc73ded67

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2020-06-30 15:44:27 -04:00
PX4 BuildBot 19d2de0726 Update submodule matrix to latest Tue Jun 30 14:40:13 UTC 2020 
- matrix in PX4/Firmware (a1043f6ce068cc4d039d6808ef98fd8c3f379582): https://github.com/PX4/Matrix/commit/f529358e9ac28b0809572c14a964ba7ba691adc4
    - matrix current upstream: https://github.com/PX4/Matrix/commit/9a30828a0a1d79e87fd09653bb9f936d7ca0ba17
    - Changes: https://github.com/PX4/Matrix/compare/f529358e9ac28b0809572c14a964ba7ba691adc4...9a30828a0a1d79e87fd09653bb9f936d7ca0ba17

    9a30828 2020-06-30 Julian Kent - Add explicit matrix + scalar test
f3cf615 2020-06-30 Julian Kent - Do += -= and scalar *= /= in place
 2020-06-30 11:11:45 -04:00
Daniel Agar e3eeb150b1 Jenkins: limit metadata generation to master 2020-06-30 11:05:22 -04:00
PX4 BuildBot 38588f0c37 Update submodule ecl to latest Tue Jun 30 00:38:47 UTC 2020 
- ecl in PX4/Firmware (bd4d3f2b9929271b2616d2e1d6952059a7e8bc72): https://github.com/PX4/ecl/commit/e4b44f704bb641fa93bedc81734c5249fcd9ed42
    - ecl current upstream: https://github.com/PX4/ecl/commit/5356077a3244a9a29adfae4aeaaab900cd28e9e8
    - Changes: https://github.com/PX4/ecl/compare/e4b44f704bb641fa93bedc81734c5249fcd9ed42...5356077a3244a9a29adfae4aeaaab900cd28e9e8

    5356077 2020-06-21 kamilritz - Make flow_innov/-var a matrix Vector2f
c2801eb 2020-06-21 kamilritz - Add const modifier and increase matrix library usage
d9afc2f 2020-06-21 kamilritz - Remove repeated division by same value
d16b43a 2020-06-21 kamilritz - Get rid of non functional piece of code
c3653e6 2020-06-21 kamilritz - Add const modifier
48f0eb1 2020-06-21 kamilritz - Remove uninformative comments
4a69b41 2020-06-21 kamilritz - Increase matrix library usage even more
630be60 2020-06-21 kamilritz - Increase matrix library usage
22274b1 2020-06-21 kamilritz - Add const modifier
61c139e 2020-06-21 kamilritz - Remove unused variable
afd4f3f 2020-06-21 kamilritz - Fix typo
a3706fd 2020-06-21 kamilritz - Make relative wind computation more compact
b8f9376 2020-06-21 kamilritz - Make mag_innov/-var a Matrix::Vector3f
0ea7cd8 2020-06-25 Kamil Ritz - Attempt to fix CI firmware build test
2927132 2020-06-25 Daniel Agar - clang-format set BreakBeforeBraces to Linux style
b96c62e 2020-06-25 sevenbill - Optionalized build dependency on git
794e6ec 2020-06-25 Bill Morris - Enforce tabs via editorcofig
 2020-06-29 21:50:55 -04:00
Matthias Grob 547bd4c667 ubuntu.sh: add fix for gazebo's OpenGL problem in VMs 
That makes gazebo crash in VMWare 3D graphics accelration.
 2020-06-29 19:21:56 -04:00